I have similar experience, i fall asleep great when me and the dogs sleep together, but when i need to roll over there is no room, i have a twin bed and the two dogs are both pretty big, 105 pounds and 120 pounds, so that is my problem but my boyfriend wont let them in the King bed, so i have sacrificed to be with them and bought a twin ( it was all i could afford), although a few nights i have to sleep in the king to get a full nights rest.
But not many, they love sleeping with mom just as much!